US11975585B2 - Systems and methods for detecting characteristics of a multi-oriented surface - Google Patents
Systems and methods for detecting characteristics of a multi-oriented surface Download PDFInfo
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- US11975585B2 US11975585B2 US16/704,687 US201916704687A US11975585B2 US 11975585 B2 US11975585 B2 US 11975585B2 US 201916704687 A US201916704687 A US 201916704687A US 11975585 B2 US11975585 B2 US 11975585B2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
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Definitions
- the invention relates generally to a device having thrust system for the purpose of adhering to a multi-oriented surface as the device traverses the environment.
- aerial drones may service to carry out such tasks but suffer their own limitations including a substantial risk of causing damage to the object or surface being inspected should the aerial done come into contact with the object.
- Aerial drones may also require special operator certifications and are restricted from use in certain airspaces.
- a device comprises a body, a mechanical propulsion system affixed to the body to cause the body to traverse a multi-oriented surface and to prevent contact between the body and the multi-oriented surface, a thrust system to apply a thrust force to the device that opposes a gravitational force acting on the device, and a payload with at least one sensor to detect a characteristics of the multi-oriented surface.
- a system for detecting the characteristics of a multi-oriented surface comprises at least one device, each of which comprises a body, a mechanical propulsion system affixed to the body to cause the body to traverse a multi-oriented surface and to prevent contact between the body and the multi-oriented surface, a thrust system to apply a thrust force to the device that opposes a gravitational force acting on the device, and a payload with at least one sensor to detect a characteristics of the multi-oriented surface.
- the system further comprises a controller to control each device and detect the characteristics of the multi-oriented surface using the sensors.
- a method of detecting the characteristics of a multi-oriented surface is achieved by traversing the multi-oriented surface by at least one device, each of which comprises a body, a mechanical propulsion system affixed to the body to cause the body to traverse a multi-oriented surface and to prevent contact between the body and the multi-oriented surface, and a thrust system to apply a thrust force to the device that opposes a gravitational force acting on the device, and by then detecting characteristics of the multi-oriented surface by a number of sensors.
- Certain embodiments may provide one or more technical advantages. As an example, certain embodiments provide advantages for allowing a drone to move about the surface of an object that may have a complicated topology and/or a delicate surface. As another example, certain embodiments provide advantages for enabling a drone to move about an inverted surface of an object that may be non-magnetic or may be intolerant of vacuum forces. Another example may be that certain embodiments provide the advantage of achieving better efficiency and/or ensuring complete adhesion of the drone to a partially-inverted surface through controlling the direction and point at which the thrust force acts upon the drone. Certain embodiments may include all, some, or none of the above-described advantages. Other advantages will be apparent to those of ordinary skill in the art.
- FIG. 1 illustrates an example crawler drone having a thrust system for adhering to a multi-oriented surface
- FIGS. 2 a - 2 f illustrate a sequence of conditions under which the drone may operate as it traverses a surface having a complicated series of orientations
- FIG. 3 illustrates a two-dimensional view of a crawler drone ascending an inclined surface with representations of the instantaneous forces acting upon the crawler;
- FIG. 4 illustrates a three-dimensional view of a crawler drone moving horizontally across an inclined surface with representation of the instantaneous forces acting upon the crawler
- FIG. 5 illustrates the minimum thrust force necessary across the entire range of; surface orientations and headings to ensure that an example crawler drone may adhere to the multi-oriented surface without failing, sliding, or tipping.
- FIGS. 1 through 5 of the drawings like numerals being used for like and corresponding parts of the various drawings.
- inspection and quality control may be critical, particularly for highly-sophisticated products.
- a large portion of this inspection and quality control is carried out by human workers.
- regions of the manufactured object that are difficult to be inspected or worked on by humans. The reasons for this may range for difficult to access areas, areas that may be completely inaccessible to humans or may other wise fey confined or at great elevation requiring special certification or other precautions. These difficulties may lead to additional expense, delays, or may also present greater risk of damage to the manufactured object (e.g., where the manufactured object may be easily damaged by dropped tools).
- inspection drones may supplement the manned-workforce.
- drones may also be used to deploy a fleet of drones that may be coordinated to maximize efficiency.
- a fleet of drones may be deployed for use in any manner of coordination.
- This control and coordination may be carried out by individual control of each drone by a separate operator or controlled in groups by an operator. It is also possible to employ either semi-autonomous or completely autonomous control.
- Such forms of control and coordination may use pre-arranged inspection routes or inspection courses that may enable mere efficiently completion of the task.
- aerial drones have become more prevalent. These aerial drones, such as quadcopter or multi-rotor drones, present certain benefits as described above by have their own set of limitations. Current aerial drones are generally not well suited for performing inspections in particular orientations and may also have difficultly transitioning between orientations. Furthermore, an aerial drone may present a greater risk of causing damage to the objected to be inspected. For example, quadcopters with exposed blades may cause significant damage to an object if the rotating blades come into contact with the surface of the object. Another drawback of aerial drones is that in particular locations they may have certain restrictions, for example. Federal Aviation Administration approval or line of sign restrictions.
- FIG. 1 illustrates an example crawler drone 100 that that may be used to traverse a multi-oriented surface 120 .
- Multi-oriented surface 120 may include a particularly challenging surface to completely traverse.
- a multi-oriented surface 120 may be either the internal or external surface of an aircraft fuselage, a confined fuel tank incorporated into the wing of an aircraft, or a tail vertical stabilizer that would otherwise require a human technician to use scaffolding and a harness to reach.
- Multi-oriented surface 120 may also be located in an environment inhospitable to humans such as an environment with extreme temperature or where contaminants and other environmental pollutants are present.
- the characteristics of the multi-oriented surface 120 may include the tensile strength, pressure rating, and magnetic properties of the multi-oriented surface 120 .
- the characteristics of the multi-oriented surface 120 may also include, for example, one or more defects 121 in the manufacturing of the multi-oriented surface 120 .
- defect 121 may include any form of flaw such as a surface scratch, blemish, cracks, delamination, spalling, cavities, improper welds, or other assembly flaws.
- Crawler drone 100 may have a body 101 providing structure to the drone and supporting other systems of crawler drone 100 .
- Crawler drone 100 may also have a mechanical propulsion system 102 affixed to the crawler drone 100 .
- the mechanical propulsion system 102 of crawler drone 100 includes four wheels.
- the mechanical propulsion system 102 may include any number of wheels, continuous tracks, omni-directional ball wheels, and casters depending on the application and the characteristics of the particular multi-oriented surface 120 . For instance, wheels of a greater width or tracks may be selected for a particularly delicate multi-oriented surface 120 to ensure greater distribution of the weight of crawler drone 100 or greater of the thrust force through the mechanical propulsion system 102 onto the multi-oriented surface 120 .
- the mechanical propulsion system 102 may also include a motor 102 a to turn the wheels or tracks of the crawler drone 100 to enable the crawler drone to drive or traverse the multi-oriented surface 120 .
- the mechanical propulsion system 102 may include any number of electric motors, in the illustrated embodiment the mechanical propulsion system 102 include one electric motor 102 a at each of the wheels.
- the wheels or tracks of mechanical propulsion system 102 may supported by a suspension system 103 .
- the suspension system 103 is integrated as part of crawler drone 100 and may be affixed to body 101 .
- the suspension system 103 may serve to ensure that all of the wheels or a sufficient portion of the tracks of mechanical propulsion system 102 remains in contact with the multi-oriented surface 120 .
- the suspension system may have actuators 103 a for the purpose of raising, lowering, or: adjusting the tilt, or orientation of the body 101 and the entire crawler drone 100 with respect to the multi-oriented surface 120 .
- actuators 103 a may be selectively engaged to tilt the crawler drone 100 . This may have particular benefits as will be described in further detail with respect to the descriptions of FIGS. 3 - 5 .
- the crawler drone 100 also includes a thrust system 104 to provide a normal force on the crawler drone 100 .
- the normal force applied to the crawler drone 100 by the thrust system 104 may assist the crawler drone 100 in adhering to multi-oriented surface 120 .
- the thrust system 104 When the thrust system 104 is sized correctly it may provide a sufficient normal force to ensure that the mechanical propulsion system 102 of the crawler drone 100 maintains contact with the multi-oriented surface 120 through the full range of orientations, including a completely inverted orientation. In such an instance the thrust system 104 must provide a thrust force that is greater than the gravitation force acting upon the crawler drone 100 .
- the appropriate thrust force is further detailed with respect to the disclosure of FIG. 5 herein.
- the thrust system 104 may also be configured so a to reduce the negative suction pressure at the bottom of the crawler drone 100 that may otherwise be problematic to the face of particularly delicate multi-oriented surfaces 120 . This may be accomplished by, for example, locating the intakes for the thrust system 104 at the sides of the body 101 so as to draw in air at the sides and avoid the possibility of a vacuum occurring on the face of the multi-oriented surface 120 .
- thrust system 104 is incorporated into body 101 but other configurations for thrust system 104 are also envisioned, for example, external rotor blades.
- thrust system 104 may include more than one ducted fan, for instance four ducted fans may ail be located about the periphery of body 101 such that the power of each ducted fan may be controlled to cause a moment to act about the center of gravity of the crawler drone 100 . This moment may be beneficial to cause the suspension system 103 to slump thereby resulting in the angle of the thrust force applied to the crawler drone 100 by the thrust system 104 to be slightly off from normal.
- the thrust system 104 may include control vanes to adjust the angle of the thrust force.
- this angling of the thrust force may help to control the force applied by the mechanical propulsion system 102 to the multi-oriented surface 120 in situations where the characteristics of the multi-oriented surface 120 cannot support a large force.
- This angling of the thrust force may also be beneficial in assisting the mechanical propulsion system 102 in mounting an inclined portion of the multi-oriented surface. This angled thrust force will be described in further detail with respect to the descriptions associated with FIGS. 2 a - 3 .
- Crawler drone 100 also includes a payload 105 for accomplishing a host of tasks.
- crawler drone 100 has a sensor for detecting defects 121 associated with the multi-oriented surface 120 .
- the sensor of payload 105 may be any combination of a visual-spectrum camera, an infrared camera, a thermal camera, a laser scanner, an X-ray module, an ultrasonic non-destructive testing module, or any other type of sensor for determine characteristics associated with the multi-oriented surface 120 .
- the sensor of payload 105 may detect a detect 121 . These detected defects 121 may be captured in the recorded data or otherwise identified.
- the crawler drone 100 may indicate the presence of the defect 121 by placing a marker on the multi-oriented surface 120 that is near the defect 121 .
- markers may include an ink mark, a paint mark, a sticker, or other conceivable marker.
- payload 105 may also include a tool for making repairs to the defect 121 of the multi-oriented surface 120 .
- Tools equipped to the payload 105 may include a paint applicator, a sealant applicator, a glue applicator, a sanding apparatus, a debarring apparatus, a cutting apparatus, a welding apparatus, a rivet applicator, a marker, a sticker applicator, or any other tool as may readily be apparent to one of skill in the art of manufacturing.
- the payload 105 may also include a tool delivery system for transporting a tool to a human work, or other system to carry out the repair.
- the crawler drone 100 may also include a controller 106 .
- the controller 106 is mounted to the body 101 of the crawler drone 100 .
- This configuration may be used for an autonomous crawler drone 100 but may also be used for manual or semi-autonomous control where the directions are provided to the controller 106 through wireless communication (e.g., Bluetooth, Wi-Fi, or other radio telecommunications).
- the controller may be located remote to the crawler drone 100 .
- a tether may be communicatively coupled with the crawler drone 100 to provide direction and control to the crawler drone.
- Controller 106 may also have various inputs and outputs to facilitate the retrieval of data from the sensor of payload 105 (e.g., USB, MicroSD, remote media streaming, as well as other storage devices).
- FIGS. 2 a - 2 f illustrate a sequence of transitions performed by a simplified representation of a crawler drone 200 , such as that illustrated in FIG. 1 , as it traverses a complex multi-oriented surface 220 .
- a number of simplified forces acting upon the crawler drone 200 are represented in each of the FIGS. 2 a - 2 f . These forces correspond as follows: F T is the thrust force applied by the thrust system 104 ; F N is the effective normal force from the multi-oriented surface 220 acting upon the crawler drone 200 ; mg is the force of gravity acting upon the crawler drone 200 ; and F f is the friction force acting on the wheels of the mechanical propulsion system 102 .
- F T is the thrust force applied by the thrust system 104
- F N is the effective normal force from the multi-oriented surface 220 acting upon the crawler drone 200
- mg is the force of gravity acting upon the crawler drone 200
- F f is the friction force acting on the wheels of the mechanical propulsion system 102 .
- the thrust force is directed towards the bottom of the multi-oriented surface that, in combination with the friction force of the mechanical propulsion system 102 , causes the crawler drone 200 to adhere to the multi-oriented surface.
- the mechanical propulsion system 102 may locomote around the multi-oriented surface 220 .
- the crawler 220 my traverse the vertical-portion of the multi-oriented surface in an upward direction until it reaches the position as illustrated in FIG. 2 b .
- the normal component of the thrust force may lessen the force applied to the multi-oriented surface 220 and the vertical component may also assist the mechanical propulsion system 102 in overcoming the gravitational force in the direction of travel.
- the suspension system 103 may be capable of lifting the body 101 of the crawler drone 200 , such as by actuators 103 , above any point of the multi-oriented surface 220 to avoid any damage that might result from contact or even with placing the thrust system 104 within close proximity of the multi-oriented surface 220 .
- the thrust force produced by the thrust system 104 may be progressively decreased until, in some embodiments, it may ultimately be completely reduced to a zero-magnitude condition once the crawler drone is on a level plane, such as illustrated in FIG. 2 c .
- the crawler drone 200 may traverse the multi-oriented surface 200 powered entirely by the mechanical propulsion system 102 .
- the crawler drone 200 may traverse the multi-oriented surface 200 by applying a thrust force by the thrust system 104 angled in the direction of travel, in such a case the friction force would act in the opposite direction as that illustrated in FIG. 2 c.
- the crawler drone 200 is shown transitioning the multi-oriented surface 220 from a horizontal orientation to a vertical orientation.
- the thrust system 104 may again need to be engaged to ensure a sufficient friction force may result at each of the points of contact of the mechanical propulsion system 102 .
- the suspension system 103 may raise the body 101 or extend the mechanical propulsion system 102 to avoid contact with the multi-oriented surface 220 .
- the next orientation shown in FIG. 2 d occurs after the crawler drone has transitioned through the vertical portion.
- the operation of the crawler drone 200 in traversing the concave transition of FIG. 2 e will be similar to that of FIG. 2 d with the notable distinction that the thrust force will be greater in the partially-inverted orientation of FIG. 2 e . This effect occurs because the thrust force of the thrust system 104 as oriented in FIG. 2 e is opposed to the gravitational force acting on the crawler drone 200 compared with the orientation show in in FIG. 2 d.
- the crawler drone 200 is in a completely-inverted orientation.
- the thrust system 104 In order to remain adhered to the multi-oriented surface 220 , the thrust system 104 must produce a thrust force at least as great as the gravitational force acting on the crawler drone 200 . In certain embodiments, when in the fully inverted orientation, the thrust system may be at its greatest thrust output, however, as described further with respect to FIG. 5 , in certain instances this may not be the case.
- FIG. 3 illustrates a simplified free body diagram of a crawler drone 300 moving in an ascending direction along a sloped multi-oriented surface 320 .
- the crawler drone 300 has mechanical propulsion system 302 illustrated as a pair of wheels in contact with the multi-oriented surface 320 .
- a thrust force FT is also illustrated as effectively acting upon a point 315 within body 301 of the crawler drone 300 .
- the center of gravity 310 of the crawler drone 300 is represented as a point.
- Consideration of the distances between the point 315 and the center of gravity 310 may be used to control the rotational moment applied to the crawler drone 300 .
- This distance from the point 315 to the center, of gravity 310 may be controlled, for example, where a thrust system 104 includes more than one ducted fan by controlling the different fan speeds to locate the point of the effective thrust; force to be closer to those fans with a greater magnitude.
- This moment may induce a rotational force causing the suspension system 103 to slump in response to the rotational force.
- the slumping of the suspension system 103 therefore causes the body 301 of the crawler drone 300 to change its angle slightly. By doing so, even for embodiments of crawler drones 300 that have a fixed angle thrust system 104 the angle ⁇ of the thrust force may be controlled.
- the angle ⁇ may be adjusted either by the thrust system 104 , by an active suspension system 103 with actuators 103 a , by the thrust system 302 in combination with the suspension system 103 , or any combination thereof.
- this parallel force that is a component of the thrust, force will be referred as a pushing force.
- the pushing force will equal the sliding component of the gravitational force acting on the crawler drone 300 such that the crawler drone 300 may be stable in place without rolling down the multi-oriented surface 320 having a slope of ⁇ .
- Either increasing the thrust force, increasing the angle ⁇ of the thrust force for the same slope of ⁇ , or a combination thereof may cause the crawler drone 300 to move up the slope of the multi-oriented surface 320 or used in combination to assist the mechanical propulsion system 302 to traverse up the multi-oriented surface 320 .
- the thrust force and the angle ⁇ of the thrust force are decreased the sliding component, of the gravitational force may tend to cause the crawler drone 300 to roll down the multi-oriented surface 320 .
- FIG. 4 introduces some additional concepts to the simplified two-dimensional free body diagram of FIG. 3 .
- the crawler drone 400 has a body 401 along with a mechanical propulsion system 402 ,
- the mechanical propulsion system 402 may include four wheels for traversing the multi-oriented surface 420 .
- those concepts introduced with respect to FIG. 3 will not be repeated here and the focus will instead be directed to concepts unique to the three-dimensional representation of the crawler drone 400 on a multi-oriented surface 420 .
- Vector notation has been implemented for the illustration of the crawler drone 400 in FIG. 4 .
- the friction forces on each wheel of the mechanical propulsion system 402 there two components of the friction force illustrated as applied to each wheel.
- First is a friction force F f in the direction of travel ê t
- second is a friction force F f perpendicular to the direction of travel ê b which accounts for the slipping force resultant from the gravitational force F g acting on the crawler drone 400 .
- the third force acting on each of the wheels is the normal force F N .
- Each of these three forces for the four wheels are followed by a series of letters to indicate which wheel the force corresponds to.
- the notation scheme is as follows: Force friction or normal, front or rear, left or right, direction .
- the friction force F fflê b could otherwise be expressed as the friction force F f for the wheel in the front f left l in the direction of ê b .
- the normal force F Nrr corresponds to the normal force F N applied to the rear r right r wheel of the mechanical propulsion system 402 .
- the crawler drone 400 is traveling in the direction ê t along the multi-oriented surface 420 having a slope of angle ⁇ .
- a heading angle ⁇ of one hundred and eighty degrees would correspond to directly down the slope ⁇ of the multi-oriented surface 420 .
- internal forces resisting the change in movement of the crawler drone 400 have been accounted for and represented by F l .
- FIG. 5 is a chart where the surface represents the minimum thrust force necessary for an example crawler drone such as the one illustrated in FIG. 1 that undergoes the set of forces applied to it as described with respect to FIG. 4 .
- This chart plots the thrust force required to be produced by the thrust system 104 along the vertical axis. Along the other two axes are the angle of slope ⁇ or surface incline of the multi-oriented surface 120 and the heading angle ⁇ of the crawler across the entire range of surface orientations and headings.
- Any thrust force of a magnitude greater than that indicated by the surface of the plot should be sufficient to ensure that the crawler drone 100 remains adhered to the multi-oriented surface 100 without falling, sliding, or tipping at the particular heading ⁇ and slope ⁇ . It is recognized, however, that a greater thrust force may consume energy reserves at a greater rate and may further impart an undesirably-large force on the multi-oriented surface 120 in certain instances.
- This insight may be used to control the instantaneous thrust force to allow for some safety margin but not overconsume energy reserves, thus prolonging the duration that a crawler drone 100 may perform its operations.
- the thrust force may be controlled in relation to the normal force that would be applied to the multi-oriented surface 100 to prevent damage during the course of performing the operations of the crawler drone 100 .
- This insight may further be used to pre-compute an ideal path or course for a crawler drone 100 .
- the crawler drone 100 may have a path that operates in a predominately inverted orientation to begin with while the power reserves or battery of crawler drone is at its maximum and then move to less-steep orientations as the power reserves are depleted where the energy expenditure would be less strenuous.
- crawler drones 100 are employed as platoons or in a fleet the amount of operations to be performed in areas that require greater thrust forces may be more efficiently spread among the number of crawler drones 100 .
- These considerations and others may be programed or computed by the controller 106 either at the outset or may be dynamically calculated and communicated with other crawler drones 100 or human operators.
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Abstract
Description
Claims (18)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US16/704,687 US11975585B2 (en) | 2019-12-05 | 2019-12-05 | Systems and methods for detecting characteristics of a multi-oriented surface |
AU2020267202A AU2020267202A1 (en) | 2019-12-05 | 2020-11-11 | Systems and methods for detecting characteristics of a multi-oriented surface |
EP20209798.6A EP3831696A1 (en) | 2019-12-05 | 2020-11-25 | Systems and methods for detecting characteristics of a multi-oriented surface |
JP2020200913A JP2021088353A (en) | 2019-12-05 | 2020-12-03 | Systems and methods for detecting characteristics of multi-oriented surface |
Applications Claiming Priority (1)
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US16/704,687 US11975585B2 (en) | 2019-12-05 | 2019-12-05 | Systems and methods for detecting characteristics of a multi-oriented surface |
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US20210170826A1 US20210170826A1 (en) | 2021-06-10 |
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